What is the best way to do melee weapon collision?

As far as I’ve found out so far, its a really expensive operation - to obtain the overlapping area, which I suggested.
After a quick google search I’ve found the following (check the links in the comments throughout the threads)

Regarding your depenetration sentence, what exactly does that mean? The volume will ‘return’ back to its position before the hit? Will it freeze there? Or will it simply not produce overlap events?